Autonomous Underwater Vehicles : Trends and Transformations
(2005)

Three examples of inter-agency cooperation utilizing current generation, individual Autonomous Underwater Vehicles (AUVs) are described consistent with recent recommendations of the U.S. Commission on Ocean Policy. The first steps in transforming individual AUVs into adaptive, networked systems are underway. To realize an affordable and deployable system, a network-class AUV must be designed with cost–size constraints not necessarily applied in developing solo AUVs. Vehicle types are suggested based on function and ocean operating regime: surface layer, interior and bottom layer. Implications for platform, navigation and control subsystems are explored and practical formulations for autonomy and intelligence are postulated for comparing performance and judging behavior. Laws and conventions governing intelligent maritime navigation are reviewed and an autonomous controller with conventional collision avoidance behavior is described. Network-class cost constraints can be achieved through economies of scale. Productivity and efficiency in AUV manufacturing will increase if constructive competition is maintained. Constructive strategies include interface and operating standards. Professional societies and industry trade groups have a leadership role to play in establishing public, open standards. cations are described at many conferences and in an expanding literature of journal publications. Griffiths (2003) provides recent developments in AUV design, construction and operation. A number of commercial manufacturers have emerged to supply the growing market. Clearly, individual AUVs are evolving into useful tools that extend current measurement methods. Three examples involving current generation, individual AUVs will serve to illustrate trends in inter-agency cooperation utilizing this technology. Following these examples, we examine factors that will transform current measurement methods. Network externalities associated with interagency cooperation will play a role in driving this transformation. Recently the Navy joined with the U. S. Environmental Protection Agency, the Narragansett Bay Estuary Program, and the Autonomous Undersea Systems Institute to demonstrate the effectiveness of using a Solar Powered Autonomous Underwater Vehicle (SAUV II) to measure dissolved oxgyen concentrations in Greenwich Bay, Rhode Island. Utilization of an AUV to rapidly move continuously-recording dissolved oxygen sensors over large spatial areas to map the frequency and extent of hypoxia demonstrates cost-effective water quality monitoring (Crimmins, 2005). Real-time monitoring of dissolved oxygen over large spatial scales is important for predicting the onset of hypoxia and mapping its extent (RI Dept Env Mgmt, 2004). The SAUV II (Figure 1) is a solar powered AUV designed for long endurance missions such as monitoring, surveillance, or station keeping where real time bi-directional communications to shore are critical. The SAUV II operates continuously for several months using solar energy to recharge its lithium ion batteries during daylight hours. The SAUV II was fitted with a fast-response galvanic oxygen micro-sensor (AMT Analysenmesstechnik GmbH). This sensor provides rapid in situ profiling of dissolved oxygen at depths of up to 100 m with a response time of a few hundred milliseconds. The SAUV II was also fitted with a NXIC conductivity-temperature-depth (CTD) sensor (Falmouth Scientific Inc.). CTD data are essential for detecting water column stratification, which affects the development and breakdown of hypoxia (Crimmins, 2005). T T R E N D S o move forward wisely with ocean science and technology, the United States needs a unified strategy that engages national and international collaboration. Part VII of the Report by the U.S. Commission on Ocean Policy, “Science-Based Decisions: Understanding of the Oceans,” not only affirms this assertion, but also identifies a framework for federal agencies to proactively develop and implement policies that embrace the spirit of inter-agency cooperation and cost-effective shared technology. The Commission states that a larger, coordinated investment in infrastructure and technology development is necessary to conduct and support ocean science (Commissioners, 2004; Crimmins, 2004a). Future ocean sampling and surveillance systems should be capable of global deployment, sustained presence, three dimensional adaptive aperture, real time control and robust performance. These requirements can be met affordably by a network of Autonomous Underwater Vehicles (AUVs). The first generation of AUVs has transitioned from dream to reality (Griffiths, 2003). Engineering progress is now regularly reported and appli-